3D Visual Odometry for Road Vehicles

García García, Rufino and Sotelo, Miguel Ángel and Parra Alonso, Ignacio and Fernández Llorca, David and Naranjo Hernández, José Eugenio and Gavilán Velasco, Miguel (2008). 3D Visual Odometry for Road Vehicles. "Journal of Intelligent and Robotic Systems", v. 51 (n. 1); pp. 113-134. ISSN 0921-0296.


Title: 3D Visual Odometry for Road Vehicles
  • García García, Rufino
  • Sotelo, Miguel Ángel
  • Parra Alonso, Ignacio
  • Fernández Llorca, David
  • Naranjo Hernández, José Eugenio
  • Gavilán Velasco, Miguel
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Date: January 2008
Volume: 51
Freetext Keywords: 3D visual odometry , ego-motion estimation , navigation assistance ,RANSAC ,non-linear least squares
Faculty: E.U. de Informática (UPM)
Department: Sistemas Inteligentes Aplicados [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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This paper describes a method for estimating the vehicle global position in a network of roads by means of visual odometry. To do so, the ego-motion of the vehicle relative to the road is computed using a stereo-vision system mounted next to the rear view mirror of the car. Feature points are matched between pairs of frames and linked into 3D trajectories. Vehicle motion is estimated using the non-linear, photogrametric approach based on RANSAC. This iterative technique enables the formulation of a robust method that can ignore large numbers of outliers as encountered in real traffic scenes. The resulting method is defined as visual odometry and can be used in conjunction with other sensors, such as GPS, to produce accurate estimates of the vehicle global position. The obvious application of the method is to provide on-board driver assistance in navigation tasks, or to provide a means for autonomously navigating a vehicle. The method has been tested in real traffic conditions without using prior knowledge about the scene nor the vehicle motion. We provide examples of estimated vehicle trajectories using the proposed method and discuss the key issues for further improvement.

More information

Item ID: 2954
DC Identifier: http://oa.upm.es/2954/
OAI Identifier: oai:oa.upm.es:2954
Deposited by: Memoria Investigacion
Deposited on: 03 May 2010 11:57
Last Modified: 20 Apr 2016 12:34
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